Mostrar el registro sencillo del ítem

dc.contributor.authorFernández-Chaves, David
dc.contributor.authorRuiz-Sarmiento, José Raúl 
dc.contributor.authorPetkov, Nicolai
dc.contributor.authorGonzález-Jiménez, Javier Poncela
dc.contributor.authorGonzález-Jiménez, Javier Poncela
dc.date.accessioned2022-04-19T12:48:19Z
dc.date.available2022-04-19T12:48:19Z
dc.date.issued2021-11-28
dc.identifier.citationFernandez-Chaves, David ; Ruiz-Sarmiento, Jose Raul ; Petkov, Nicolai ; Gonźalez-Jiḿenez, Javier Poncela. ViMantic, a distributed robotic architecture for semantic mapping in indoor environments. Knowledge-Based Systems Volume 232, 28 November 2021, 107440. https://doi.org/10.1016/j.knosys.2021.107440es_ES
dc.identifier.urihttps://hdl.handle.net/10630/23946
dc.description.abstractSemantic maps augment traditional representations of robot workspaces, typically based on their geometry and/or topology, with meta-information about the properties, relations and functionalities of their composing elements. A piece of such information could be: fridges are appliances typically found in kitchens and employed to keep food in good condition. Thereby, semantic maps allow for the execution of high-level robotic tasks in an efficient way, e.g. “Hey robot, Store the leftover salad”. This paper presents ViMantic, a novel semantic mapping architecture for the building and maintenance of such maps, which brings together a number of features as demanded by modern mobile robotic systems, including: (i) a formal model, based on ontologies, which defines the semantics of the problem at hand and establishes mechanisms for its manipulation; (ii) techniques for processing sensory information and automatically populating maps with, for example, objects detected by cutting-edge CNNs; (iii) distributed execution capabilities through a client–server design, making the knowledge in the maps accessible and extendable to other robots/agents; (iv) a user interface that allows for the visualization and interaction with relevant parts of the maps through a virtual environment; (v) public availability, hence being ready to use in robotic platforms. The suitability of ViMantic has been assessed using Robot@Home, a vast repository of data collected by a robot in different houses. The experiments carried out consider different scenarios with one or multiple robots, from where we have extracted satisfactory results regarding automatic population, execution times, and required size in memory of the resultant semantic maps.es_ES
dc.description.sponsorshipThis work has been supported by the research projects WISER (DPI2017-84827-R), funded by the Spanish Government and financed by the European Regional Development’s funds (FEDER), MoveCare (ICT-26-2016b-GA-732158), funded by the European H2020 program, and by a postdoc contract from the I-PPIT program of the University of Málaga, and the UG PHD scholarship program from the University of Groningen. Funding for open access charge: Universidad de Málaga/CBUA
dc.language.isoenges_ES
dc.publisherELSEVIERes_ES
dc.rightsinfo:eu-repo/semantics/openAccesses_ES
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/*
dc.subjectRobótica (Arquitectura)es_ES
dc.subject.otherSemantic mapses_ES
dc.subject.otherRobotic architecturees_ES
dc.subject.otherMobile robotses_ES
dc.subject.otherUnity 3Des_ES
dc.subject.otherROSes_ES
dc.subject.otherObject detectiones_ES
dc.subject.otherDetectron2es_ES
dc.subject.otherRobot@Homees_ES
dc.titleViMantic, a distributed robotic architecture for semantic mapping in indoor environmentses_ES
dc.typeinfo:eu-repo/semantics/articlees_ES
dc.centroE.T.S.I. Informáticaes_ES
dc.identifier.doihttps://doi.org/10.1016/j.knosys.2021.107440
dc.rights.ccAtribución 4.0 Internacional*


Ficheros en el ítem

Este ítem aparece en la(s) siguiente(s) colección(ones)

Mostrar el registro sencillo del ítem

Atribución 4.0 Internacional
Excepto si se señala otra cosa, la licencia del ítem se describe como Atribución 4.0 Internacional